Autonomous maze mapping robot
Mapping, localization, and path planning for a LiDAR-equipped, non-holonomic robot.
Team project (Unified Robotics IV). I implemented mapping, localization, and path planning.
The problem
A robot that can't turn in place has to plan smooth, drivable paths, and it has to do that in a maze it has never seen. Without a map and an estimate of its own position, it can't decide where to go.
What I built
I built the pipeline as ROS 2 nodes: LiDAR scans feed a mapping and localization stack, and a planner turns the resulting map into paths the robot's drive constraints allow. The same code ran across mazes of different sizes without changes.
- Completed SLAM in mazes of varying sizes
- Planner respects non-holonomic motion limits